From 633e3f84695668a9ce74e44e506fb2e24e387125 Mon Sep 17 00:00:00 2001 From: zcj <2487150395@qq.com> Date: Wed, 25 Dec 2024 15:25:25 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9IMU?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 17 +- Core/Inc/stm32h7xx_it.h | 3 + Core/Src/spi.c | 56 +- Core/Src/stm32h7xx_it.c | 45 + Core/Src/tim.c | 69 +- Core/Src/usart.c | 4 +- application/robot_task.h | 5 +- bsp/usart/bsp_usart.c | 1 + bsp/usart/bsp_usart.h | 2 +- cmake-build-debug/.ninja_deps | Bin 107032 -> 92108 bytes cmake-build-debug/.ninja_log | 421 +- .../3.26.4/CMakeDetermineCompilerABI_C.bin | Bin 1660 -> 1660 bytes .../3.26.4/CMakeDetermineCompilerABI_CXX.bin | Bin 1876 -> 1876 bytes .../CMakeFiles/CMakeConfigureLog.yaml | 72 +- .../CMakeFiles/clion-Debug-log.txt | 2 +- .../Core/Src/spi.c.obj | Bin 23628 -> 29284 bytes .../Core/Src/stm32h7xx_it.c.obj | Bin 38180 -> 41764 bytes .../Core/Src/tim.c.obj | Bin 27904 -> 28360 bytes .../Core/Src/usart.c.obj | Bin 41356 -> 41364 bytes .../bsp/usart/bsp_usart.c.obj | Bin 23688 -> 23688 bytes cmake-build-debug/scara_engineering.bin | Bin 174532 -> 155092 bytes cmake-build-debug/scara_engineering.elf | Bin 1846124 -> 1738376 bytes cmake-build-debug/scara_engineering.hex | 16195 +++++++--------- cmake-build-debug/scara_engineering.map | 6860 ++++--- debug.jdebug | 349 + debug.jdebug.user | 30 + scara_engineering.ioc | 497 +- 27 files changed, 11910 insertions(+), 12718 deletions(-) create mode 100644 debug.jdebug create mode 100644 debug.jdebug.user diff --git a/CMakeLists.txt b/CMakeLists.txt index a3e9d0c..f3e37ae 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -50,21 +50,20 @@ else () endif () include_directories(Core/Inc USB_DEVICE/App USB_DEVICE/Target Drivers/STM32H7xx_HAL_Driver/Inc Drivers/STM32H7xx_HAL_Driver/Inc/Legacy Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F Middlewares/ST/STM32_USB_Device_Library/Core/Inc Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc Drivers/CMSIS/Device/ST/STM32H7xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc - bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb - modules modules/alarm modules/algorithm modules/auto_aim modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310 - modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd - modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/robotics - modules/motor/DJImotor modules/motor/Dmmotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/Air_pump - application application/chassis application/cmd application/arm application/to_stretch - Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config) + bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb + modules modules/alarm modules/algorithm modules/auto_aim modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310 + modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd + modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/robotics + modules/motor/DJImotor modules/motor/Dmmotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/Air_pump + application application/chassis application/cmd application/arm application/to_stretch + Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config) include_directories(Middlewares/ST/ARM/DSP/Inc) add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32H723xx) -file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USB_DEVICE/*.*" - "bsp/*.*" "application/*.*" "modules/*.*") +file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USB_DEVICE/*.*" "application/*.*" "modules/*.*" "bsp/*.*") set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32H723VGTX_FLASH.ld) diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index b2d3e06..20a23a8 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -63,6 +63,7 @@ void FDCAN1_IT0_IRQHandler(void); void FDCAN2_IT0_IRQHandler(void); void FDCAN1_IT1_IRQHandler(void); void FDCAN2_IT1_IRQHandler(void); +void SPI1_IRQHandler(void); void USART1_IRQHandler(void); void USART2_IRQHandler(void); void USART3_IRQHandler(void); @@ -72,6 +73,8 @@ void UART5_IRQHandler(void); void DMA2_Stream0_IRQHandler(void); void DMA2_Stream1_IRQHandler(void); void DMA2_Stream2_IRQHandler(void); +void DMA2_Stream3_IRQHandler(void); +void DMA2_Stream4_IRQHandler(void); void FDCAN_CAL_IRQHandler(void); void OTG_HS_EP1_OUT_IRQHandler(void); void OTG_HS_EP1_IN_IRQHandler(void); diff --git a/Core/Src/spi.c b/Core/Src/spi.c index 1524b3b..d87cbe4 100644 --- a/Core/Src/spi.c +++ b/Core/Src/spi.c @@ -26,6 +26,8 @@ SPI_HandleTypeDef hspi1; SPI_HandleTypeDef hspi2; +DMA_HandleTypeDef hdma_spi1_rx; +DMA_HandleTypeDef hdma_spi1_tx; /* SPI1 init function */ void MX_SPI1_Init(void) @@ -41,11 +43,11 @@ void MX_SPI1_Init(void) hspi1.Instance = SPI1; hspi1.Init.Mode = SPI_MODE_MASTER; hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_4BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi1.Init.DataSize = SPI_DATASIZE_8BIT; + hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH; + hspi1.Init.CLKPhase = SPI_PHASE_2EDGE; hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; + hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; hspi1.Init.TIMode = SPI_TIMODE_DISABLE; hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; @@ -156,6 +158,46 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + /* SPI1 DMA Init */ + /* SPI1_RX Init */ + hdma_spi1_rx.Instance = DMA2_Stream3; + hdma_spi1_rx.Init.Request = DMA_REQUEST_SPI1_RX; + hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_spi1_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_spi1_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_spi1_rx.Init.Mode = DMA_NORMAL; + hdma_spi1_rx.Init.Priority = DMA_PRIORITY_LOW; + hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_spi1_rx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(spiHandle,hdmarx,hdma_spi1_rx); + + /* SPI1_TX Init */ + hdma_spi1_tx.Instance = DMA2_Stream4; + hdma_spi1_tx.Init.Request = DMA_REQUEST_SPI1_TX; + hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_spi1_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_spi1_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_spi1_tx.Init.Mode = DMA_NORMAL; + hdma_spi1_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi1_tx); + + /* SPI1 interrupt Init */ + HAL_NVIC_SetPriority(SPI1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(SPI1_IRQn); /* USER CODE BEGIN SPI1_MspInit 1 */ /* USER CODE END SPI1_MspInit 1 */ @@ -225,6 +267,12 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3|GPIO_PIN_4); + /* SPI1 DMA DeInit */ + HAL_DMA_DeInit(spiHandle->hdmarx); + HAL_DMA_DeInit(spiHandle->hdmatx); + + /* SPI1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(SPI1_IRQn); /* USER CODE BEGIN SPI1_MspDeInit 1 */ /* USER CODE END SPI1_MspDeInit 1 */ diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 2623638..5347df4 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -59,6 +59,9 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_HS; extern FDCAN_HandleTypeDef hfdcan1; extern FDCAN_HandleTypeDef hfdcan2; extern FDCAN_HandleTypeDef hfdcan3; +extern DMA_HandleTypeDef hdma_spi1_rx; +extern DMA_HandleTypeDef hdma_spi1_tx; +extern SPI_HandleTypeDef hspi1; extern DMA_HandleTypeDef hdma_uart5_rx; extern DMA_HandleTypeDef hdma_uart7_rx; extern DMA_HandleTypeDef hdma_uart7_tx; @@ -334,6 +337,20 @@ void FDCAN2_IT1_IRQHandler(void) /* USER CODE END FDCAN2_IT1_IRQn 1 */ } +/** + * @brief This function handles SPI1 global interrupt. + */ +void SPI1_IRQHandler(void) +{ + /* USER CODE BEGIN SPI1_IRQn 0 */ + + /* USER CODE END SPI1_IRQn 0 */ + HAL_SPI_IRQHandler(&hspi1); + /* USER CODE BEGIN SPI1_IRQn 1 */ + + /* USER CODE END SPI1_IRQn 1 */ +} + /** * @brief This function handles USART1 global interrupt. */ @@ -460,6 +477,34 @@ void DMA2_Stream2_IRQHandler(void) /* USER CODE END DMA2_Stream2_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream3 global interrupt. + */ +void DMA2_Stream3_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ + + /* USER CODE END DMA2_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi1_rx); + /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ + + /* USER CODE END DMA2_Stream3_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream4 global interrupt. + */ +void DMA2_Stream4_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream4_IRQn 0 */ + + /* USER CODE END DMA2_Stream4_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi1_tx); + /* USER CODE BEGIN DMA2_Stream4_IRQn 1 */ + + /* USER CODE END DMA2_Stream4_IRQn 1 */ +} + /** * @brief This function handles FDCAN calibration unit interrupt. */ diff --git a/Core/Src/tim.c b/Core/Src/tim.c index 4d339ca..8c86b7c 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -176,7 +176,6 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 0 */ - TIM_SlaveConfigTypeDef sSlaveConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; @@ -184,25 +183,15 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; - htim3.Init.Prescaler = 0; + htim3.Init.Prescaler = 24-1; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; - htim3.Init.Period = 65535; + htim3.Init.Period = 10000-1; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim3) != HAL_OK) - { - Error_Handler(); - } if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) { Error_Handler(); } - sSlaveConfig.SlaveMode = TIM_SLAVEMODE_EXTERNAL1; - sSlaveConfig.InputTrigger = TIM_TS_ITR0; - if (HAL_TIM_SlaveConfigSynchro(&htim3, &sSlaveConfig) != HAL_OK) - { - Error_Handler(); - } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) @@ -304,17 +293,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM2_MspInit 1 */ } - else if(tim_baseHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspInit 0 */ - - /* USER CODE END TIM3_MspInit 0 */ - /* TIM3 clock enable */ - __HAL_RCC_TIM3_CLK_ENABLE(); - /* USER CODE BEGIN TIM3_MspInit 1 */ - - /* USER CODE END TIM3_MspInit 1 */ - } else if(tim_baseHandle->Instance==TIM12) { /* USER CODE BEGIN TIM12_MspInit 0 */ @@ -327,6 +305,22 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM12_MspInit 1 */ } } + +void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) +{ + + if(tim_pwmHandle->Instance==TIM3) + { + /* USER CODE BEGIN TIM3_MspInit 0 */ + + /* USER CODE END TIM3_MspInit 0 */ + /* TIM3 clock enable */ + __HAL_RCC_TIM3_CLK_ENABLE(); + /* USER CODE BEGIN TIM3_MspInit 1 */ + + /* USER CODE END TIM3_MspInit 1 */ + } +} void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) { @@ -444,17 +438,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM2_MspDeInit 1 */ } - else if(tim_baseHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspDeInit 0 */ - - /* USER CODE END TIM3_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM3_CLK_DISABLE(); - /* USER CODE BEGIN TIM3_MspDeInit 1 */ - - /* USER CODE END TIM3_MspDeInit 1 */ - } else if(tim_baseHandle->Instance==TIM12) { /* USER CODE BEGIN TIM12_MspDeInit 0 */ @@ -468,6 +451,22 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) } } +void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) +{ + + if(tim_pwmHandle->Instance==TIM3) + { + /* USER CODE BEGIN TIM3_MspDeInit 0 */ + + /* USER CODE END TIM3_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM3_CLK_DISABLE(); + /* USER CODE BEGIN TIM3_MspDeInit 1 */ + + /* USER CODE END TIM3_MspDeInit 1 */ + } +} + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 5129cbe..65af1ab 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -55,9 +55,9 @@ void MX_UART5_Init(void) /* USER CODE END UART5_Init 1 */ huart5.Instance = UART5; huart5.Init.BaudRate = 100000; - huart5.Init.WordLength = UART_WORDLENGTH_8B; + huart5.Init.WordLength = UART_WORDLENGTH_9B; huart5.Init.StopBits = UART_STOPBITS_1; - huart5.Init.Parity = UART_PARITY_NONE; + huart5.Init.Parity = UART_PARITY_EVEN; huart5.Init.Mode = UART_MODE_TX_RX; huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart5.Init.OverSampling = UART_OVERSAMPLING_16; diff --git a/application/robot_task.h b/application/robot_task.h index ffa1613..ff3046c 100644 --- a/application/robot_task.h +++ b/application/robot_task.h @@ -36,8 +36,9 @@ void StartUITASK(void const *argument); */ void OSTaskInit() { - osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024); - insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行 + //@todo:先注释掉INS任务,因为工程不需要陀螺仪数据 +// osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024); +// insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行 // 后续修改为读取传感器数据准备好的中断处理, osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256); diff --git a/bsp/usart/bsp_usart.c b/bsp/usart/bsp_usart.c index ccefeb3..e3a6945 100644 --- a/bsp/usart/bsp_usart.c +++ b/bsp/usart/bsp_usart.c @@ -133,6 +133,7 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size); __HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT); LOGWARNING("[bsp_usart] USART error callback triggered, instance idx [%d]", i); + return; } } diff --git a/bsp/usart/bsp_usart.h b/bsp/usart/bsp_usart.h index 6cf0c00..9bb608f 100644 --- a/bsp/usart/bsp_usart.h +++ b/bsp/usart/bsp_usart.h @@ -4,7 +4,7 @@ #include #include "main.h" -#define DEVICE_USART_CNT 3 // C板至多分配3个串口 +#define DEVICE_USART_CNT 6 // DM_MC02板至多分配6个串口 #define USART_RXBUFF_LIMIT 256 // 如果协议需要更大的buff,请修改这里 // 模块回调函数,用于解析协议 diff --git a/cmake-build-debug/.ninja_deps b/cmake-build-debug/.ninja_deps index 6a9db04314416b319978b60906623eea7da6ed27..fcdcaac5482761f2a69caedba46c337c557ae2c4 100644 GIT binary patch delta 11172 zcmdT~cUY9y(%(ULVd)DjuoM9myA%tGC`C|WLMorgC?#fVjQFmT5W+$ucrD28omUovjDMckE zgcs>duEkQ~SU4nxp8by5BTD`KF#kc3dQlZoppQ?x#N-Sm&xNjtkf=kt*$381sRvOT z>~vbcQi*Tw9%`YB-1)o2ulHPOrAxhTl?HrX|9sLNQ2GMj*&~U1kr*)WvM&5qN6CyB zG|@s=5MczaIHXVy;q+pqep<79v^_OzMPgcv;*?4qMEcNg^*^r}#^kpoS==7cT2v;L z=>rD5!PK|8b8#94m)Z?$NBXg;dzijKi4LItVr|N|I?M0QfTZkAqj{x%sf|h3rCZ$* zaH2q86lL)?j;UEW`D3$^a|6>uY8@9VPFQJ!Yg_ul zj4U~uK@UaX+o2RFw&phyPVYL4i<@ky1?#E2Vke?DYAw;NISAp#W)LpJIF7;#?K|Vy zqtDnIk+8a*PZ`JurGtQDfa8ElKo#I~QFUghejl(CfRoArXX;H&d5WT3$ko)uJlHS5 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